Abstract
The paper proposes a method of controlling robotic manipulators with use of human gestures and movement. Experiments were performed with the use of 4 degree-of-freedom AX-12 Robotic Arm manipulator with force gripper and ASUS Xtion depth sensor also called motion controller. Depth and video capture has been done via OpenNI library. The infrastructure is based on Windows Communication Foundation (WCF) for remote access, authorization, multimedia streaming and servo control. Control of robotic manipulator is implemented with use of human computer interaction algorithm basing on depth sensor information.
This work has been supported by the Polish Ministry of Science and Higher Education under research grant no. IP2011 023071 from the Science Budget 2012–2013.
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References
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© 2012 Springer-Verlag Berlin Heidelberg
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Grzejszczak, T., Mikulski, M., Szkodny, T., Jędrasiak, K. (2012). Gesture Based Robot Control. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds) Computer Vision and Graphics. ICCVG 2012. Lecture Notes in Computer Science, vol 7594. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33564-8_49
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DOI: https://doi.org/10.1007/978-3-642-33564-8_49
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33563-1
Online ISBN: 978-3-642-33564-8
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